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Added support for flipping encoder direction #81

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Added support for flipping encoder direction #81

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7 changes: 6 additions & 1 deletion XRPLib/encoder.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ class Encoder:
_counts_per_motor_shaft_revolution = 12
resolution = _counts_per_motor_shaft_revolution * _gear_ratio # 585

def __init__(self, index, encAPin: int|str, encBPin: int|str):
def __init__(self, index, encAPin: int|str, encBPin: int|str, flip_dir:bool=False):
"""
Uses the on board PIO State Machine to keep track of encoder positions.
Only 4 encoders can be instantiated this way.
Expand All @@ -28,6 +28,7 @@ def __init__(self, index, encAPin: int|str, encBPin: int|str):
self.sm = rp2.StateMachine(index, self._encoder, in_base=basePin)
self.reset_encoder_position()
self.sm.active(1)
self.flip_dir = flip_dir

def reset_encoder_position(self):
"""
Expand All @@ -52,6 +53,10 @@ def get_position_counts(self):
counts = self.sm.get()
if(counts > 2**31):
counts -= 2**32

if self.flip_dir:
counts *= -1

return counts

def get_position(self):
Expand Down